diff --git a/Demo_FirstDemo/V-REP-YouBot-Demo-1.lua b/1_Demo_FirstDemo/V-REP-YouBot-Demo-1.lua
similarity index 100%
rename from Demo_FirstDemo/V-REP-YouBot-Demo-1.lua
rename to 1_Demo_FirstDemo/V-REP-YouBot-Demo-1.lua
diff --git a/Demo_FirstDemo/V-REP-YouBot-Demo-1.ttt b/1_Demo_FirstDemo/V-REP-YouBot-Demo-1.ttt
similarity index 100%
rename from Demo_FirstDemo/V-REP-YouBot-Demo-1.ttt
rename to 1_Demo_FirstDemo/V-REP-YouBot-Demo-1.ttt
diff --git a/Demo_KeyboardControlMovement/KeyboardControlMovementScript.lua b/2_Demo_KeyboardControlMovement/KeyboardControlMovementScript.lua
similarity index 100%
rename from Demo_KeyboardControlMovement/KeyboardControlMovementScript.lua
rename to 2_Demo_KeyboardControlMovement/KeyboardControlMovementScript.lua
diff --git a/Demo_KeyboardControlMovement/V-REP-YouBot-Demo-KeyboardControlMovement.ttt b/2_Demo_KeyboardControlMovement/V-REP-YouBot-Demo-KeyboardControlMovement.ttt
similarity index 100%
rename from Demo_KeyboardControlMovement/V-REP-YouBot-Demo-KeyboardControlMovement.ttt
rename to 2_Demo_KeyboardControlMovement/V-REP-YouBot-Demo-KeyboardControlMovement.ttt
diff --git a/Demo_ChassisKinematics/ChassisKinematics.lua b/3_Demo_ChassisKinematics/ChassisKinematics.lua
similarity index 95%
rename from Demo_ChassisKinematics/ChassisKinematics.lua
rename to 3_Demo_ChassisKinematics/ChassisKinematics.lua
index 0c73f89..ad00979 100644
--- a/Demo_ChassisKinematics/ChassisKinematics.lua
+++ b/3_Demo_ChassisKinematics/ChassisKinematics.lua
@@ -70,7 +70,7 @@ function sysCall_sensing()
     dummy_guider_position = sim.getObjectPosition(dummy_guider_handle, -1)
     -- print('pos:', dummy_guider_position)
     dummy_guider_orientation = sim.getObjectOrientation(dummy_guider_handle, -1)
-    -- print('ori:', dummy_guider_orientation)
+    print('ori:', dummy_guider_orientation)
 end
 
 
@@ -201,8 +201,8 @@ function sysCall_actuation()
 
     
     -- Apply the desired wheel velocities
-    sim.setJointTargetVelocity(wheel_joints[1], v_wheel_1)
-    sim.setJointTargetVelocity(wheel_joints[2], v_wheel_2)
-    sim.setJointTargetVelocity(wheel_joints[3], v_wheel_3)
-    sim.setJointTargetVelocity(wheel_joints[4], v_wheel_4)
+    -- sim.setJointTargetVelocity(wheel_joints[1], v_wheel_1)
+    -- sim.setJointTargetVelocity(wheel_joints[2], v_wheel_2)
+    -- sim.setJointTargetVelocity(wheel_joints[3], v_wheel_3)
+    -- sim.setJointTargetVelocity(wheel_joints[4], v_wheel_4)
 end
diff --git a/3_Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt b/3_Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt
new file mode 100644
index 0000000..5249ce6
Binary files /dev/null and b/3_Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt differ
diff --git a/Demo_ChassisKinematics/V_REP_circle_path.m b/3_Demo_ChassisKinematics/V_REP_circle_path.m
similarity index 100%
rename from Demo_ChassisKinematics/V_REP_circle_path.m
rename to 3_Demo_ChassisKinematics/V_REP_circle_path.m
diff --git a/Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt b/Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt
deleted file mode 100644
index c834a93..0000000
Binary files a/Demo_ChassisKinematics/V-REP-YouBot-Demo-ChassisKinematics.ttt and /dev/null differ